Vehicle and method of controlling the same

Abstract

The vehicle includes: a sensor part configured to acquire occupancy information of an surrounding area of the vehicle and a speed of the vehicle; a camera configured to acquire a surrounding image of the vehicle; and a controller configured to form map information based on the occupancy information according to movement of the vehicle, determine presence or absence of an obstacle around the vehicle based on the map information and the surrounding image, and control, in response to presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information.

What is claimed is: 
     
       1. A vehicle comprising:
 a sensor part configured to acquire occupancy information of a surrounding area of the vehicle and a speed of the vehicle; 
 a camera configured to acquire a surrounding image of the vehicle; and 
 a controller configured to:
 form map information based on the occupancy information according to movement of the vehicle; 
 determine presence or absence of an obstacle around the vehicle based on the map information and the surrounding image; and 
 control, in response to the presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information, 
 
 wherein the controller is configured to:
 form the map information by assigning a first weight to occupancy information of a first area that is measured in real time, assigning a second weight greater than the first weight to occupancy information of a second area that is previously measured, and assigning a third weight to the occupancy information corresponding to a third area that has no obstacle. 
 
 
     
     
       2. The vehicle of  claim 1 , wherein the controller classifies each pixel included in an image based on the surrounding image into one of a space, a low obstacle, and a normal obstacle. 
     
     
       3. The vehicle of  claim 2 , wherein the controller is configured to determine a time to collision between the vehicle and the obstacle, and when the possibility of collision of the vehicle exceeds a predetermined reference value and the obstacle corresponds to the normal obstacle, stop the vehicle. 
     
     
       4. The vehicle of  claim 1 , wherein the controller is configured to determine the occupancy information corresponding to the obstacle and pixels included in the surrounding image, and form the map information based on a covariance of the occupancy information and a covariance of the pixels. 
     
     
       5. The vehicle of  claim 1 , further comprising an outputter,
 wherein the controller is configured to output a warning signal to the outputter based on the possibility of collision of the vehicle. 
 
     
     
       6. The vehicle of  claim 1 , wherein the possibility of collision of the vehicle is determined by comparing a reference time corresponding to the speed of the vehicle with a time to collision of the vehicle with the obstacle. 
     
     
       7. The vehicle of  claim 1 , further comprising a braking part,
 wherein the controller is configured to control the braking part based on the possibility of collision of the vehicle. 
 
     
     
       8. A vehicle comprising:
 a sensor part configured to acquire occupancy information of a surrounding area of the vehicle and a speed of the vehicle; 
 a camera configured to acquire a surrounding image of the vehicle; and 
 a controller configured to:
 form map information based on the occupancy information according to movement of the vehicle; 
 determine presence or absence of an obstacle around the vehicle based on the map information and the surrounding image; and 
 control, in response to the presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information, 
 
 wherein the controller is further configured to:
 classify each pixel included in an image based on the surrounding image into one of a space, a low obstacle, and a normal obstacle, and 
 when the possibility of collision of the vehicle exceeds a predetermined reference value and the obstacle corresponds to the low obstacle, stop the vehicle after a predetermined time since the obstacle is detected. 
 
 
     
     
       9. The vehicle of  claim 8 , wherein the controller is configured to determine a time to collision between the vehicle and the obstacle, compare the time to collision with a reference braking time corresponding to the speed of the vehicle, and determine a braking timing of the vehicle. 
     
     
       10. A method of controlling a vehicle, the method comprising:
 acquiring, by a sensor part, occupancy information of a surrounding area of the vehicle and a speed of the vehicle; 
 acquiring, by a camera, a surrounding image of the vehicle; 
 forming, by a controller, map information based on the occupancy information according to movement of the vehicle; 
 determining, by a controller, a presence or absence of an obstacle around the vehicle based on the map information and the surrounding image; and 
 controlling, by a controller, in response to the presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information, 
 wherein the forming the map information comprises: 
 assigning a first weight to occupancy information of a first area that is measured in real time; 
 assigning a second weight greater than the first weight to occupancy information of a second area that is previously measured; and 
 assigning a third weight to occupancy information corresponding to a third area that has no obstacle. 
 
     
     
       11. The method of  claim 10 , wherein forming the map information includes classifying each pixel included in an image based on the surrounding image into one of a space, a low obstacle, and a normal obstacle. 
     
     
       12. The method of  claim 11 , wherein controlling the vehicle includes:
 determining a time to collision between the vehicle and the obstacle; and 
 when the possibility of collision of the vehicle exceeds a predetermined reference value and the obstacle corresponds to the normal obstacle, stopping the vehicle. 
 
     
     
       13. The method of  claim 10 , wherein forming the map information includes:
 determining the occupancy information corresponding to the obstacle and pixels included in the surrounding image; and 
 forming the map information based on a covariance of the occupancy information and a covariance of the pixels. 
 
     
     
       14. A method of controlling a vehicle, the method comprising:
 acquiring, by a sensor part, occupancy information of a surrounding area of the vehicle and a speed of the vehicle; 
 acquiring, by a camera, a surrounding image of the vehicle; 
 forming, by a controller, map information based on the occupancy information according to movement of the vehicle; 
 determining, by a controller, a presence or absence of an obstacle around the vehicle based on the map information and the surrounding image; and 
 controlling, by a controller, in response to the presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information, 
 wherein the forming the map information includes classifying each pixel included in an image based on the surrounding image into one of a space, a low obstacle, and a normal obstacle, and 
 wherein the controlling the vehicle includes when the possibility of collision of the vehicle exceeds a predetermined reference value and the obstacle corresponds to the low obstacle, stopping the vehicle after a predetermined time since the obstacle is detected. 
 
     
     
       15. The method of  claim 14 , wherein controlling the vehicle comprises determining a time to collision between the vehicle and the obstacle, comparing the time to collision with a reference braking time corresponding to the speed of the vehicle, and determining a braking timing of the vehicle. 
     
     
       16. A vehicle comprising:
 an ultrasonic sensor configured to acquire occupancy information of a surrounding area of the vehicle based on an ultrasonic signal; 
 a wheel speed sensor configured to acquire a speed of the vehicle; 
 a camera configured to acquire a surrounding image of the vehicle; and 
 at least one processor configured to:
 assign an occupation probability corresponding to the occupancy information; 
 by using a time-slice measurement model determined based on the speed of the vehicle, assign a first weight to occupancy information of a first area that is measured in real time, assign a second weight greater than the first weight to occupancy information of a second area that is previously measured to determine an occupancy probability of the second area, assign a third weight to occupancy information corresponding to a third area that has no obstacle to reduce an occupancy probability corresponding to the third area; 
 determine coordinate information corresponding to the surrounding image and the vehicle; 
 determine an obstacle map by classifying each pixel corresponding to the occupancy information into at least one of a space, a low obstacle, and a normal obstacle on the basis of a covariance corresponding to map information based on the occupancy information and a covariance of coordinate information based on the surrounding image; and 
 
 control the vehicle based on the obstacle map.